Diff: Walk/Walk.cpp

Revision:

14:d7cb429946f4

Parent:

13:e7ecdb20665a

Child:

18:0033ef1814ba

--- a/Walk/Walk.cpp	Tue Feb 12 07:51:07 2019 +0000
+++ b/Walk/Walk.cpp	Tue Feb 12 12:50:45 2019 +0000
@@ -1,13 +1,21 @@
 #include "Walk.h"
 #include "math.h"
-const float M_PI = 3.141592;
-
+#include "pi.h"
 //Orbitは足毎の軌道をあらわす。
 
-Orbit::Orbit(int orbitType)
+Orbit::Orbit(OrbitPattern orbitType)
 {
     orbitType_ = orbitType;
 }
+void Orbit::SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m)
+{
+    stridetime_s_ = stridetime_s;
+    risetime_s_ = risetime_s;
+    stride_m_ = stride_m;
+    height_m_ = height_m;
+    ground_m_ = ground_m;
+}
+
 //着地中の動き.直線軌道.等速
 OneLeg Orbit::StrideLine_(OneLeg leg, float phasetime_s)
 {
@@ -19,7 +27,7 @@
 //空中の動き.楕円軌道
 OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
 {
-    float rad = M_PI * (phasetime_s -stridetime_s_)/ risetime_s_ + M_PI;
+    float rad = M_PI * (phasetime_s - stridetime_s_) / risetime_s_ + M_PI;
     float x_m = stride_m_ * 0.5 * cos(rad);
     float y_m = height_m_ * sin(rad) + ground_m_;
     leg.SetXY_m(x_m, y_m);
@@ -55,6 +63,8 @@
 void Walk::Cal4LegsPosi(OneLeg (&leg)[4])
 {
     phasetime_s_ += cycletime_s_;
+    while (phasetime_s_ > orbit_[0].GetOneWalkTime())
+        phasetime_s_ -= orbit_[0].GetOneWalkTime();
     for (int i = 0; i < 4; i++)
     {
         float phasetime_s = phasetime_s_ + offsettime_s_[i];